U.S. President Donald Trump and North Korean leader Kim Jong Un signed a "comprehensive" document following a historic summit aimed at the denuclearization of theKorean peninsula.

President Donald Trump became the first sitting US president to meet with a North Korean head of state on Tuesday.

Noting past North Korean promises to denuclearise, many analysts cast doubt on how effective Trump had been at obtaining Washington's pre-summit goal of getting North Korea to undertake complete, verifiable and irreversible steps to scrap a nuclear arsenal that is advanced enough to threaten the United States.

The agreement signed Tuesday by Trump and Kim also included provisions for future negotiations, hinting at the possibility of more meetings between the US and North Korean leaders. -South Korea military drills halted, and claimed that the US had agreed to have a step-by-step winding down of North Korea's nuclear program, instead of the immediate dismantling the USA was originally after.

But he said that was no longer the case, and everyone can "sleep well tonight".

Almost an hour later, noted the "fortune" the US will save as a result of his commitment to end U.S.

He also announced an unexpected end to US-South Korea military drills. Just how much was achieved, though, is in question, because of the suspicions that emerged later that North Korea had been secretly seeking to enrich uranium.

Trump said he has invited Kim to the White House, but before the visit he wants to see some real progress.

Before taking office people were assuming that we were going to War with North Korea.

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US Republican Senator Lindsey Graham said Mr Trump's cost reasoning for halting the exercises was "ridiculous".

Trump's Twitter barrage came as U.S. Secretary of State Mike Pompeo jetted to Seoul for follow-up talks Wednesday and Thursday.

"A lot of pundits thought it was a mistake to meet with an unstable dictator - but Kim Jong Un said, 'You know what?"

The Rodong Sinmun, the ruling Workers' Party newspaper, focused on photographs of Kim and Mr Trump shaking hands.

"The world will see a major change", he continued through a translator. President Trump committed to provide security guarantees to the DPRK, and Chairman Kim Jong Un reaffirmed his firm and unwavering commitment to complete denuclearization of the Korean Peninsula. Trump's total sidelining of North Korea's infamous human rights abuses has also caused concern. "But I also think they're very expensive", he said.

The announcement caught not only allies Japan and South Korea off guard, it also took the U.S. military command in the South, U.S. Forces Korea, by surprise.

"We are working with the regional countries on getting this (deal) going".

Current and former USA defence officials expressed concern at the possibility that the United States would unilaterally halt military exercises without an explicit concession from North Korea that lowers the threat from Pyongyang.

Despite the lack of detail, or binding terms in the joint statement agreed with Kim - which has alarmed a majority of observers of the nuclear standoff - Trump struck a resolutely bullish tone.